/*===================================================================== PIXHAWK Micro Air Vehicle Flying Robotics Toolkit (c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch> This file is part of the PIXHAWK project PIXHAWK is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. PIXHAWK is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>. ======================================================================*/ /** * @file * @brief Manage communication links * * @author Lorenz Meier <mavteam@student.ethz.ch> * */ #ifndef _LINKMANAGER_H_ #define _LINKMANAGER_H_ #include <QThread> #include <QList> #include <QMultiMap> #include <QMutex> #include <LinkInterface.h> #include <SerialLink.h> #include <ProtocolInterface.h> /** * The Link Manager organizes the physical Links. It can manage arbitrary * links and takes care of connecting them as well assigning the correct * protocol instance to transport the link data into the application. * **/ class LinkManager : public QObject { Q_OBJECT public: static LinkManager* instance(); ~LinkManager(); void run(); QList<LinkInterface*> getLinksForProtocol(ProtocolInterface* protocol); ProtocolInterface* getProtocolForLink(LinkInterface* link); /** @brief Get the link for this id */ LinkInterface* getLinkForId(int id); /** @brief Get a list of all links */ const QList<LinkInterface*> getLinks(); /** @brief Get a list of all serial links */ const QList<SerialLink*> getSerialLinks(); /** @brief Get a list of all protocols */ const QList<ProtocolInterface*> getProtocols() { return protocolLinks.uniqueKeys(); } public slots: void add(LinkInterface* link); void addProtocol(LinkInterface* link, ProtocolInterface* protocol); void removeObj(QObject* obj); bool removeLink(LinkInterface* link); bool connectAll(); bool connectLink(LinkInterface* link); bool disconnectAll(); bool disconnectLink(LinkInterface* link); protected: LinkManager(); QList<LinkInterface*> links; QMultiMap<ProtocolInterface*,LinkInterface*> protocolLinks; QMutex dataMutex; private: static LinkManager* _instance; signals: void newLink(LinkInterface* link); void linkRemoved(LinkInterface* link); }; #endif // _LINKMANAGER_H_